Abstract
An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.
Original language | English |
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Journal | IEEE Transactions on Robotics and Automation |
Volume | 7 |
Issue number | 6 |
Pages (from-to) | 865-870 |
Number of pages | 6 |
ISSN | 1042-296X |
DOIs | |
Publication status | Published - 01.01.1991 |